copy

Creates deep copy of planner object

Since R2021b

Syntax

plannerCopy = copy(planner)

Description

plannerCopy = copy(planner) creates a deep copy of the planner object with the same properties.

Examples

Create Copy of plannerControlRRT Object

Create an occupancy map from an example map and set the map resolution as 10 cells/meter.

load("exampleMaps","ternaryMap")
map = occupancyMap(ternaryMap,10);

Create the state propagator using the map. By default, the state propagator uses a bicycle kinematic model.

propagator = mobileRobotPropagator(Environment=map);

Set the state bounds on the state space based on the map world limits.

propagator.StateSpace.StateBounds(1:2,:) = ...
                    [map.XWorldLimits; map.YWorldLimits];

Create a plannerControlRRT object.

planner = plannerControlRRT(propagator)

planner = 
  plannerControlRRT with properties:

             StatePropagator: [1x1 mobileRobotPropagator]
    ContinueAfterGoalReached: 0
             MaxPlanningTime: Inf
              MaxNumTreeNode: 10000
             MaxNumIteration: 10000
            NumGoalExtension: 1
                    GoalBias: 0.1000
              GoalReachedFcn: @plannerControlRRT.GoalReachedDefault

Create a copy of the plannerControlRRT object.

plannerNew = copy(planner)

plannerNew = 
  plannerControlRRT with properties:

             StatePropagator: [1x1 mobileRobotPropagator]
    ContinueAfterGoalReached: 0
             MaxPlanningTime: Inf
              MaxNumTreeNode: 10000
             MaxNumIteration: 10000
            NumGoalExtension: 1
                    GoalBias: 0.1000
              GoalReachedFcn: @plannerControlRRT.GoalReachedDefault

Input Arguments

planner — Path planner

plannerControlRRT object

Path planner, specified as a plannerControlRRT object.

Output Arguments

plannerCopy — Copy of path planner

plannerControlRRT object

Copy of path planner, returned as a plannerControlRRT object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2021b